Variable stiffness Mckibben muscles with hydraulic and pneumatic operating modes. (2nd July 2016)

• Record Type: Journal Article
• Authors: Xiang, Chaoqun; Giannaccini, Maria Elena; Theodoridis, Theo; Hao, Lina; Nefti-Meziani, Samia; Davis, Steven
• Is Part Of: Advanced robotics. Volume 30:Number 13(2016)
• Page Start: 889
• Page End: 899
• Publication Date: 2016-07-02
• Subjects: McKibben muscles -- pneumatic muscle actuators -- variable stiffness actuation -- hydraulic operating mode -- pneumatic operating mode; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2016.1154801
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract: McKibben muscles have been shown to have improved stiffness characteristics when operating hydraulically. However when operating pneumatically, they are compliant and so have potential for safer physical human–robot interaction. This paper presents a method for rapidly switching between pneumatic and hydraulic modes of operation without the need to remove all hydraulic fluid from the actuator. A compliant and potentially safe pneumatic mode is demonstrated and compared with a much stiffer hydraulic mode. The paper also explores a combined pneumatic/hydraulic mode of operation which allows both the position of the joint and the speed at which it reacts to a disturbance force to be controlled.